• Transactions on Control, Automation and Systems Engineering
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• 제1권1호
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• pp.22-31
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• 1999

In this paper, a robust observer design method for nonlinear multi input multi-output(MINO) plants is presented. This method enables the extension of the time delay observer (TDO) for nonlinear SISO plants in the phase variable form to MIMO plants. The designed TDO reconstructs the states of the plant expressed in the generalized observability canonical form (GOBCF), yet requiring neither the transformation of a plant, nor the real time computation coordinates, the observer turned out to be computationally efficient and easy to design for nonlinear MIMO plants. In a simulation of a two-link manipulator with flexible joints, the control performances using TDO appeared to be similar to those using actual states and superior to those using numerical differentiation. Finally, in an experiment with a robot, it was confirmed that the TDO reconstructs the states reliability and TDO can be effectively used in a real closed-loop system.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 추계학술대회 논문집
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• pp.580-583
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• 2002

This paper presents a novel pose description corresponding to the structure characteristics of parallel manipulators, which is convenient and intuitionistic to us. A class of 3-RSR parallel manipulator is considered here. Through analysis on geometry theory, we obtain a new method of the closed-form solution to the forward kinematics. The closed-form solution contains two different meanings-analytical and real-time. So we reach the goal of practical application and control. A numerical example is also presented and are verified by an inverse kinematics analysis. It shows that the method has a practical value for real-time control.

• 한국전산유체공학회:학술대회논문집
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• 한국전산유체공학회 2005년도 추계 학술대회논문집
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• pp.187-194
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• 2005

For the analysis of compressible multi-phase and real gas flows, characteristic form of Roe's Riemann solver was derived using real gas equation of state. It was extended to multi component reactive system considering variable specific heat. From this study, it is known that some correction should be made for the use of existing numerical algorithm. 1) Sonic speed and characteristic variable should be corrected with real gas effect. 2) Roe's average was applicable only with the assumption of constant properties. 3) Artificial damping term and characteristic variables should be corrected but their influences may not be significant.

• Journal of Computing Science and Engineering
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• 제9권2호
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• pp.51-72
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• 2015

Time predictability is crucial in hard real-time and safety-critical systems. Cache memories, while useful for improving the average-case memory performance, are not time predictable, especially when they are shared in multicore processors. To achieve time predictability while minimizing the impact on performance, this paper explores several time-predictable scratch-pad memory (SPM) based architectures for multicore processors. To support these architectures, we propose the dynamic memory objects allocation based partition, the static allocation based partition, and the static allocation based priority L2 SPM strategy to retain the characteristic of time predictability while attempting to maximize the performance and energy efficiency. The SPM based multicore architectural design and the related allocation methods thus form a comprehensive solution to hard real-time multicore based computing. Our experimental results indicate the strengths and weaknesses of each proposed architecture and the allocation method, which offers interesting on-chip memory design options to enable multicore platforms for hard real-time systems.

• 공학논문집
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• 제2권1호
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• pp.73-82
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• 1997

실시간 분산처리 시스템 개발을 위한 설계 동향을 분석한 바, 기존의 실시간 분산처리 시스템은 통신, 근사치 계산, 객체지향 패러다임, 멀티프로세서 하드웨어, 동적 시간 처리 및 에러 용인 등의 특성을 반영하여 설계되고 있다. 이러한 주요 설계 요소들의 장점, 단점을 분석하여 차세대 실시간 시스템 개발을 위한 방안을 논의하였다.

• 한국생활과학회지
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• 제8권2호
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• pp.327-337
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• 1999

Primitive men's primordial formative activity derives from incarnation contained in intensive vitality and strong creativity mind. The trend of modern fashion requiring the boundless imagination can be called that it, just, itself, has something in common with basic spiritual activity that primitive men had. What is concerning how modern fashion designers have developed formative language through enchanting primitive art is as follows. 1. The nature's mysterious power appears to be transformed into personified image. The incarnation for acquiring beauty, power, prestige of genius appears in the form of personification, making use of mask in modern fashion. 2. As for primitive men, the whole universe has a potentiality as a symbol. The symbolism of primitive art based on religion and myth appears in modern art as the form of presenting oppositional objects together in one space. 3. Primitive art is the purest form and the most unpolluted. This shows the natural quality being assimilated into nature, which is expressed in modern fashion as intensity, free-spirit, simplicity, etc. 4. The primitive men's anxiety to the outside world appears as impulse. The geometrical form of primitive art occurred in the shape of impulse appears in expressional form of modern fashion. 5. The real existence in primitive art inducing real materials and objects, in themselves, into formative world appears in modern art in the way of expression such as repetition, enlargement, exact reproduction.

• 한국의상디자인학회지
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• 제10권1호
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• pp.1-9
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• 2008

The purpose of this research is to lay the foundation that middle aged woman takes care of more healthy, beautiful, attractive external features and prepares successful ageing on studying a difference of recognition between an actual somatotype and an ideal somatotype after we examine an actual somatotype and an ideal somatotype in the object of about $40{\sim}50$ middle-aged woman, dwells in Seoul, is the main group of a home consumption socially. The result of comparing a difference between an actual somatotype and an ideal somatotype was showing that in case of a facial form, the group which their faces are an egg-shaped prefers an egg-shaped and the group which their faces are a round-shaped prefers a round-shaped. In case of a silhouette, all groups prefers a normal type most. In case of a shoulder's type, all groups prefer a normal type most. In case of a shoulder-waist line, all groups prefers a Y line most. In case of a breast's form, all groups prefer a normal type most. In case of a back's form, all groups prefer a normal type most. In case of a buttocks' form, all groups prefers a normal type most. In case of a leg's form, all groups prefers a normal type most. On putting together research result as yet, middle aged women wish a similar somatotype irrespective of an age, an obesity measurement and this means a recognition of making an effort to be beautiful is alike. Therefore, it is necessary to recognize a somatotype of middle aged women uprightly and it must be accomplished a continuous, systematic consultation and education about a weight-control on exercising and not to mention of making a desirable eating habit.

• 한국전자파학회논문지
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• 제19권3호
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• pp.281-293
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• 2008

평면형 구조에서 공간 영역 그린 함수를 구하기 위해서는 무한 Sommerfeld 적분을 계산하여야 한다. 무한 적분을 짧은 시간에 계산하기 위한 실수축 적분 방법(real axis integration method)은 주파수와 거리에 대해 넓은 범위에 걸쳐 매우 정확한 방법이지만 관측점의 수지 성분 z가 변하게 되면, 근사의 과정을 반복해야 하는 비효율성과 z가 커질수록 파수 영역 함수의 변화가 심해져 정확한 근사가 어렵다는 단점이 있다. 본 논문에서는 폐루프 적분 경로를 이용하여 파수 영역 함수를 근사화 함으로써 일반적인 마이크로스트립 구조에서 기존의 결과에 비해 정확한 closed-form 그린 함수를 구하는 방법을 제시하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2532-2537
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• 2005

FIR(Finite Impulse Response) filter is well known to be ideal for the finite time state-space model, but it requires much computation due to its inherent non-recursive structure especially when the measurement interval grows to a large extent. And often a fixed-lag smoother based on the finite time interval is needed to monitor the soundness of the system model and the measurement model, but the computation burden of FIR-type smoother imposes much restriction of its usage for real-time application. Conventional recursive forms of FIR estimator[1]-[4] could not be used for real time applications, since they are numerically unstable in their recursive equations. To cope with this problem, we suggest a stable recursive form FIR estimator(SRFIR) and its usefulness is demonstrated for designing the real-time fixed-lag smoother on the finite time window through an example of detection of rate bias in the anti-aircraft gun fire control system.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2002년도 ITC-CSCC -2
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• pp.1105-1108
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• 2002

Real-time(RT) object-oriented(OO) distributed computing is a form of RT distributed computing realized with a distributed computer system structured in the form of an object network. Several approached proposed in recent years for extending the conventional object structuring scheme to suit RT applications, are briefly reviewed. Then the approach named the TMO(Time-triggered Message-triggered Object)structuring scheme was formulated with the goal of instigating a quantum productivity jump in the design of distributed time triggered simulation. The TMO scheme is intended to facilitate the pursuit of a new paradigm in designing distributed time triggered simulation which is to realize real-time computing with a common and general design style that does not alienate the main-stream computing industry and yet to allow system engineers to confidently produce certifiable distributed time tiggered simulation for safety-critical applications. The TMO structuring scheme is a syntactically simple but semantically powerful extension of the conventional object structuring approached and as such, its support tools can be based on various well-established OO programming languages such as C＋＋ and on ubiquitous commercial RT operating system kernels. The Scheme enables a great reduction of the designers efforts in guaranteeing timely service capabilities of application systems.